Start of Detail Semester

22 Jan 2021- Nicholas Rossi

To start off this semester, we needed to confirm that the motors still allow for sufficient movement of the robot given voltage saturation conditions. We implemented a 7.2V saturation to help model the motors in simulation more realistically and discovered that the motor models are either inaccurate or not strong enough. We instead tested the simulation model that did not include motors, only the joint forces. We saturated the forces at 1.47Nm, the estimated stall torque of the motors, and discovered that the robot fails to maintain balance when it twists, or turns without moving its legs.

We are currently discussing this problem.